--- a/include/ecrt.h	Sun Jun 06 21:32:50 2010 +0200
+++ b/include/ecrt.h	Sun Jun 06 22:40:22 2010 +0200
@@ -382,6 +382,17 @@
     EC_REQUEST_ERROR, /**< Request processing failed. */
 } ec_request_state_t;
 
+/*****************************************************************************/
+
+/** Application-layer state.
+ */
+typedef enum {
+    EC_AL_STATE_INIT = 1, /**< Init. */
+    EC_AL_STATE_PREOP = 2, /**< Pre-operational. */
+    EC_AL_STATE_SAFEOP = 4, /**< Safe-operational. */
+    EC_AL_STATE_OP = 8, /**< Operational. */
+} ec_al_state_t;
+
 /******************************************************************************
  * Global functions
  *****************************************************************************/
@@ -1202,6 +1213,8 @@
 int ecrt_slave_config_idn(
         ec_slave_config_t *sc, /**< Slave configuration. */
         uint16_t idn, /**< SoE IDN. */
+        ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or
+                               SAFEOP). */
         const uint8_t *data, /**< Pointer to the data. */
         size_t size /**< Size of the \a data. */
         );

--- a/lib/slave_config.c	Sun Jun 06 21:32:50 2010 +0200
+++ b/lib/slave_config.c	Sun Jun 06 22:40:22 2010 +0200
@@ -473,12 +473,13 @@
 /*****************************************************************************/
 
 int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
-        const uint8_t *data, size_t size)
+        ec_al_state_t state, const uint8_t *data, size_t size)
 {
     ec_ioctl_sc_idn_t io;
 
     io.config_index = sc->index;
     io.idn = idn;
+    io.state = state;
     io.data = data;
     io.size = size;
 

--- a/master/cdev.c	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/cdev.c	Sun Jun 06 22:40:22 2010 +0200
@@ -2463,7 +2463,7 @@
 
     up(&master->master_sem); // FIXME
 
-    ret = ecrt_slave_config_idn(sc, ioctl.idn, data, ioctl.size);
+    ret = ecrt_slave_config_idn(sc, ioctl.idn, ioctl.state, data, ioctl.size);
     kfree(data);
     return ret;
 }

--- a/master/fsm_slave_config.c	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/fsm_slave_config.c	Sun Jun 06 22:40:22 2010 +0200
@@ -69,7 +69,7 @@
 void ec_fsm_slave_config_state_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_boot_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_sdo_conf(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_state_soe_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_soe_conf_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_watchdog_divider(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_watchdog(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_pdo_sync(ec_fsm_slave_config_t *);
@@ -80,6 +80,7 @@
 void ec_fsm_slave_config_state_dc_start(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_dc_assign(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_state_soe_conf_safeop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_op(ec_fsm_slave_config_t *);
 
 void ec_fsm_slave_config_enter_init(ec_fsm_slave_config_t *);
@@ -88,7 +89,7 @@
 void ec_fsm_slave_config_enter_mbox_sync(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_boot_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *);
-void ec_fsm_slave_config_enter_soe_conf(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_soe_conf_preop(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_pdo_conf(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_watchdog_divider(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_watchdog(ec_fsm_slave_config_t *);
@@ -96,6 +97,8 @@
 void ec_fsm_slave_config_enter_fmmu(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_dc_cycle(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_enter_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_soe_conf_safeop(ec_fsm_slave_config_t *);
+void ec_fsm_slave_config_enter_op(ec_fsm_slave_config_t *);
 
 void ec_fsm_slave_config_state_end(ec_fsm_slave_config_t *);
 void ec_fsm_slave_config_state_error(ec_fsm_slave_config_t *);
@@ -658,7 +661,7 @@
 
     // No CoE configuration to be applied?
     if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
-        ec_fsm_slave_config_enter_soe_conf(fsm);
+        ec_fsm_slave_config_enter_soe_conf_preop(fsm);
         return;
     }
 
@@ -706,47 +709,50 @@
     }
 
     // All SDOs are now configured.
-    ec_fsm_slave_config_enter_soe_conf(fsm);
+    ec_fsm_slave_config_enter_soe_conf_preop(fsm);
 }
 
 /*****************************************************************************/
 
 /** Check for SoE configurations to be applied.
  */
-void ec_fsm_slave_config_enter_soe_conf(
+void ec_fsm_slave_config_enter_soe_conf_preop(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
         )
 {
     ec_slave_t *slave = fsm->slave;
     ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+    ec_soe_request_t *req;
 
     if (!slave->config) {
         ec_fsm_slave_config_enter_pdo_sync(fsm);
         return;
     }
 
-    // No SoE configuration to be applied?
-    if (list_empty(&slave->config->soe_configs)) { // skip configuration
-        ec_fsm_slave_config_enter_pdo_conf(fsm);
-        return;
-    }
-
-    // start SoE configuration
-    fsm->state = ec_fsm_slave_config_state_soe_conf;
-    fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
-            ec_soe_request_t, list);
-    ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
-    ec_soe_request_write(&fsm->soe_request_copy);
-    ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
-    ec_fsm_soe_exec(fsm_soe); // execute immediately
-    ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
+    list_for_each_entry(req, &slave->config->soe_configs, list) {
+        if (req->al_state == EC_AL_STATE_PREOP) {
+            // start SoE configuration
+            fsm->state = ec_fsm_slave_config_state_soe_conf_preop;
+            fsm->soe_request = req;
+            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+            ec_soe_request_write(&fsm->soe_request_copy);
+            ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+            ec_fsm_soe_exec(fsm_soe); // execute immediately
+            ec_master_queue_external_datagram(slave->master,
+                    fsm_soe->datagram);
+            return;
+        }
+    }
+
+    // No SoE configuration to be applied in PREOP
+    ec_fsm_slave_config_enter_pdo_conf(fsm);
 }
 
 /*****************************************************************************/
 
 /** Slave configuration state: SOE_CONF.
  */
-void ec_fsm_slave_config_state_soe_conf(
+void ec_fsm_slave_config_state_soe_conf_preop(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
         )
 {
@@ -770,19 +776,22 @@
         return;
     }
 
-    // Another IDN to configure?
-    if (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
+    // Another IDN to configure in PREOP?
+    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
         fsm->soe_request = list_entry(fsm->soe_request->list.next,
                 ec_soe_request_t, list);
-        ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
-        ec_soe_request_write(&fsm->soe_request_copy);
-        ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
-        ec_fsm_soe_exec(fsm_soe); // execute immediately
-        ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
-        return;
-    }
-
-    // All SDOs are now configured.
+        if (fsm->soe_request->al_state == EC_AL_STATE_PREOP) {
+            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+            ec_soe_request_write(&fsm->soe_request_copy);
+            ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+            ec_fsm_soe_exec(fsm_soe); // execute immediately
+            ec_master_queue_external_datagram(slave->master,
+                    fsm_soe->datagram);
+            return;
+        }
+    }
+
+    // All PREOP IDNs are now configured.
     ec_fsm_slave_config_enter_pdo_conf(fsm);
 }
 
@@ -1416,9 +1425,103 @@
         return;
     }
 
+    ec_fsm_slave_config_enter_soe_conf_safeop(fsm);
+}
+
+/*****************************************************************************/
+
+/** Check for SoE configurations to be applied in SAFEOP.
+ */
+void ec_fsm_slave_config_enter_soe_conf_safeop(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+    ec_soe_request_t *req;
+
+    if (!slave->config) {
+        ec_fsm_slave_config_enter_op(fsm);
+        return;
+    }
+
+    list_for_each_entry(req, &slave->config->soe_configs, list) {
+        if (req->al_state == EC_AL_STATE_SAFEOP) {
+            // start SoE configuration
+            fsm->state = ec_fsm_slave_config_state_soe_conf_safeop;
+            fsm->soe_request = req;
+            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+            ec_soe_request_write(&fsm->soe_request_copy);
+            ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+            ec_fsm_soe_exec(fsm_soe); // execute immediately
+            ec_master_queue_external_datagram(slave->master,
+                    fsm_soe->datagram);
+            return;
+        }
+    }
+
+    // No SoE configuration to be applied in SAFEOP
+    ec_fsm_slave_config_enter_op(fsm);
+}
+
+/*****************************************************************************/
+
+/** Slave configuration state: SOE_CONF.
+ */
+void ec_fsm_slave_config_state_soe_conf_safeop(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+
+    if (ec_fsm_soe_exec(fsm_soe)) {
+        ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
+        return;
+    }
+
+    if (!ec_fsm_soe_success(fsm_soe)) {
+        EC_SLAVE_ERR(slave, "SoE configuration failed.\n");
+        fsm->slave->error_flag = 1;
+        fsm->state = ec_fsm_slave_config_state_error;
+        return;
+    }
+
+    if (!fsm->slave->config) { // config removed in the meantime
+        ec_fsm_slave_config_reconfigure(fsm);
+        return;
+    }
+
+    // Another IDN to configure in SAFEOP?
+    while (fsm->soe_request->list.next != &fsm->slave->config->soe_configs) {
+        fsm->soe_request = list_entry(fsm->soe_request->list.next,
+                ec_soe_request_t, list);
+        if (fsm->soe_request->al_state == EC_AL_STATE_SAFEOP) {
+            ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
+            ec_soe_request_write(&fsm->soe_request_copy);
+            ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
+            ec_fsm_soe_exec(fsm_soe); // execute immediately
+            ec_master_queue_external_datagram(slave->master,
+                    fsm_soe->datagram);
+            return;
+        }
+    }
+
+    // All SAFEOP IDNs are now configured.
+    ec_fsm_slave_config_enter_op(fsm);
+}
+
+/*****************************************************************************/
+
+/** Bring slave to OP.
+ */
+void ec_fsm_slave_config_enter_op(
+        ec_fsm_slave_config_t *fsm /**< slave state machine */
+        )
+{
     // set state to OP
     fsm->state = ec_fsm_slave_config_state_op;
-    ec_fsm_change_start(fsm->fsm_change, slave, EC_SLAVE_STATE_OP);
+    ec_fsm_change_start(fsm->fsm_change, fsm->slave, EC_SLAVE_STATE_OP);
     ec_fsm_change_exec(fsm->fsm_change); // execute immediately
 }
 

--- a/master/ioctl.h	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/ioctl.h	Sun Jun 06 22:40:22 2010 +0200
@@ -583,6 +583,7 @@
     // inputs
     uint32_t config_index;
     uint16_t idn;
+    ec_al_state_t state;
     const uint8_t *data;
     size_t size;
 } ec_ioctl_sc_idn_t;

--- a/master/slave_config.c	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/slave_config.c	Sun Jun 06 22:40:22 2010 +0200
@@ -939,14 +939,21 @@
 /*****************************************************************************/
 
 int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
-        const uint8_t *data, size_t size)
+        ec_al_state_t state, const uint8_t *data, size_t size)
 {
     ec_slave_t *slave = sc->slave;
     ec_soe_request_t *req;
     int ret;
 
-    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, "
-            "data = 0x%p, size = %zu)\n", __func__, sc, idn, data, size);
+    EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, state = %u, "
+            "data = 0x%p, size = %zu)\n",
+            __func__, sc, idn, state, data, size);
+
+    if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
+        EC_CONFIG_ERR(sc, "AL state for IDN config"
+                " must be PREOP or SAFEOP!\n");
+        return -EINVAL;
+    }
 
     if (slave && !(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
         EC_CONFIG_WARN(sc, "Attached slave does not support SoE!\n");
@@ -961,6 +968,7 @@
 
     ec_soe_request_init(req);
     ec_soe_request_set_idn(req, idn);
+    req->al_state = state;
 
     ret = ec_soe_request_copy_data(req, data, size);
     if (ret < 0) {

--- a/master/soe_request.c	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/soe_request.c	Sun Jun 06 22:40:22 2010 +0200
@@ -56,6 +56,7 @@
         ec_soe_request_t *req /**< SoE request. */
         )
 {
+    req->al_state = EC_AL_STATE_INIT;
     req->data = NULL;
     req->mem_size = 0;
     req->data_size = 0;
@@ -86,6 +87,7 @@
         )
 {
     req->idn = other->idn;
+    req->al_state = other->al_state;
     return ec_soe_request_copy_data(req, other->data, other->data_size);
 }
 

--- a/master/soe_request.h	Sun Jun 06 21:32:50 2010 +0200
+++ b/master/soe_request.h	Sun Jun 06 22:40:22 2010 +0200
@@ -48,6 +48,7 @@
 typedef struct {
     struct list_head list; /**< List item. */
     uint16_t idn; /**< Sercos ID-Number. */
+    ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
     uint8_t *data; /**< Pointer to SDO data. */
     size_t mem_size; /**< Size of SDO data memory. */
     size_t data_size; /**< Size of SDO data. */